import numpy as np
image_size = [640, 480]

intrinsics_matrix = np.array([[609.0, 0., 320.],
                         [ 0.,609.0, 240],
                         [0,0,1]], dtype=np.float32)

factor_depth = np.array([[1000.]])


class CameraInfo():
    def __init__(self, width, height, fx, fy, cx, cy, scale):
        self.width = width
        self.height = height
        self.fx = fx
        self.fy = fy
        self.cx = cx
        self.cy = cy
        self.scale = scale